Merge pull request mavlink#456 from potaito/pr-unify-initial-checks

Same connection and GPS checks in all examples

Author: JonasVautherin

examples/camera.py

@@ -13,7 +13,7 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"Drone discovered!")
+            print(f"-- Connected to drone!")
             break
 
     print_mode_task = asyncio.ensure_future(print_mode(drone))

examples/failure_injection.py

@@ -12,13 +12,13 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"Drone discovered with UUID: {state.uuid}")
+            print(f"-- Connected to drone!")
             break
 
     print("Waiting for drone to have a global position estimate...")
     async for health in drone.telemetry.health():
         if health.is_global_position_ok and health.is_home_position_ok:
-            print("Global position estimate ok")
+            print("-- Global position estimate OK")
             break
 
     print("-- Enabling failure injection")

examples/firmware_version.py

@@ -11,7 +11,7 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"Drone discovered!")
+            print(f"-- Connected to drone!")
             break
 
     info = await drone.info.get_version()

examples/follow_me_example.py

@@ -20,16 +20,16 @@ async def fly_drone():
     drone = System()
     await drone.connect(system_address="udp://:14540")
 
-    #This waits till a mavlink based drone is connected
+    print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
             print(f"-- Connected to drone!")
             break
 
-    #Checking if Global Position Estimate is ok
-    async for global_lock in drone.telemetry.health():
-        if global_lock.is_global_position_ok and global_lock.is_home_position_ok:
-            print("-- Global position state is good enough for flying.")
+    print("Waiting for drone to have a global position estimate...")
+    async for health in drone.telemetry.health():
+        if health.is_global_position_ok and health.is_home_position_ok:
+            print("-- Global position estimate OK")
             break
 
     #Arming the drone

examples/geofence.py

@@ -19,10 +19,10 @@ async def run():
     await drone.connect(system_address="udp://:14540")
 
     # Wait for the drone to connect
-    print("Waiting for drone...")
+    print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"Drone discovered!")
+            print(f"-- Connected to drone!")
             break
 
     # Fetch the home location coordinates, in order to set a boundary around the home location

examples/goto.py

@@ -11,13 +11,13 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print("Drone discovered!")
+            print(f"-- Connected to drone!")
             break
 
     print("Waiting for drone to have a global position estimate...")
     async for health in drone.telemetry.health():
-        if health.is_global_position_ok:
-            print("Global position estimate ok")
+        if health.is_global_position_ok and health.is_home_position_ok:
+            print("-- Global position state is good enough for flying.")
             break
 
     print("Fetching amsl altitude at home location....")

examples/logfile_download.py

@@ -12,7 +12,7 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"Drone discovered")
+            print(f"-- Connected to drone!")
             break
 
     entries = await get_entries(drone)

examples/manual_control.py

@@ -35,15 +35,16 @@ async def manual_controls():
     await drone.connect(system_address="udp://:14540")
 
     # This waits till a mavlink based drone is connected
+    print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
             print(f"-- Connected to drone!")
             break
 
     # Checking if Global Position Estimate is ok
-    async for global_lock in drone.telemetry.health():
-        if global_lock.is_global_position_ok:
-            print("-- Global position state is ok")
+    async for health in drone.telemetry.health():
+        if health.is_global_position_ok and health.is_home_position_ok:
+            print("-- Global position state is good enough for flying.")
             break
 
     # set the manual control input after arming

examples/mission.py

@@ -13,7 +13,7 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print("Drone discovered!")
+            print(f"-- Connected to drone!")
             break
 
     print_mission_progress_task = asyncio.ensure_future(
@@ -71,6 +71,12 @@ async def run():
     print("-- Uploading mission")
     await drone.mission.upload_mission(mission_plan)
 
+    print("Waiting for drone to have a global position estimate...")
+    async for health in drone.telemetry.health():
+        if health.is_global_position_ok and health.is_home_position_ok:
+            print("-- Global position estimate OK")
+            break
+
     print("-- Arming")
     await drone.action.arm()
 

examples/mission_import.py

@@ -13,7 +13,7 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print("Drone discovered!")
+            print(f"-- Connected to drone!")
             break
 
     mission_import_data = await drone.mission_raw.import_qgroundcontrol_mission("example-mission.plan")

examples/offboard_attitude.py

@@ -20,7 +20,13 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"Drone discovered!")
+            print(f"-- Connected to drone!")
+            break
+
+    print("Waiting for drone to have a global position estimate...")
+    async for health in drone.telemetry.health():
+        if health.is_global_position_ok and health.is_home_position_ok:
+            print("-- Global position estimate OK")
             break
 
     print("-- Arming")

examples/offboard_position_ned.py

@@ -20,6 +20,18 @@ async def run():
     drone = System()
     await drone.connect(system_address="udp://:14540")
 
+    print("Waiting for drone to connect...")
+    async for state in drone.core.connection_state():
+        if state.is_connected:
+            print(f"-- Connected to drone!")
+            break
+
+    print("Waiting for drone to have a global position estimate...")
+    async for health in drone.telemetry.health():
+        if health.is_global_position_ok and health.is_home_position_ok:
+            print("-- Global position estimate OK")
+            break
+
     print("-- Arming")
     await drone.action.arm()
 

examples/offboard_position_velocity_ned.py

@@ -12,7 +12,13 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"Drone discovered with UUID: {state.uuid}")
+            print(f"-- Connected to drone!")
+            break
+
+    print("Waiting for drone to have a global position estimate...")
+    async for health in drone.telemetry.health():
+        if health.is_global_position_ok and health.is_home_position_ok:
+            print("-- Global position estimate OK")
             break
 
     print("-- Arming")

examples/offboard_velocity_body.py

@@ -16,7 +16,13 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"Drone discovered!")
+            print(f"-- Connected to drone!")
+            break
+
+    print("Waiting for drone to have a global position estimate...")
+    async for health in drone.telemetry.health():
+        if health.is_global_position_ok and health.is_home_position_ok:
+            print("-- Global position estimate OK")
             break
 
     print("-- Arming")

examples/offboard_velocity_ned.py

@@ -16,7 +16,13 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"Drone discovered!")
+            print(f"-- Connected to drone!")
+            break
+
+    print("Waiting for drone to have a global position estimate...")
+    async for health in drone.telemetry.health():
+        if health.is_global_position_ok and health.is_home_position_ok:
+            print("-- Global position estimate OK")
             break
 
     print("-- Arming")

examples/shell.py

@@ -15,7 +15,7 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"Drone discovered!")
+            print(f"-- Connected to drone!")
             break
 
     asyncio.get_event_loop().add_reader(sys.stdin, got_stdin_data, drone)

examples/takeoff_and_land.py

@@ -12,13 +12,13 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"Drone discovered!")
+            print(f"-- Connected to drone!")
             break
 
     print("Waiting for drone to have a global position estimate...")
     async for health in drone.telemetry.health():
-        if health.is_global_position_ok:
-            print("Global position estimate ok")
+        if health.is_global_position_ok and health.is_home_position_ok:
+            print("-- Global position estimate OK")
             break
 
     print("-- Arming")

examples/takeoff_and_land_keyboard_control.py

@@ -24,13 +24,13 @@ async def setup():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"Drone discovered!")
+            print(f"-- Connected to drone!")
             break
 
     print("Waiting for drone to have a global position estimate...")
     async for health in drone.telemetry.health():
-        if health.is_global_position_ok:
-            print("Global position estimate ok")
+        if health.is_global_position_ok and health.is_home_position_ok:
+            print("-- Global position estimate OK")
             break
 
 

examples/telemetry_flight_mode.py

@@ -11,7 +11,7 @@ async def print_flight_mode():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"Drone discovered!")
+            print(f"-- Connected to drone!")
             break
 
     async for flight_mode in drone.telemetry.flight_mode():

examples/telemetry_takeoff_and_land.py

@@ -31,7 +31,7 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"Drone discovered!")
+            print(f"-- Connected to drone!")
             break
 
     # Start parallel tasks
@@ -41,6 +41,11 @@ async def run():
     running_tasks = [print_altitude_task, print_flight_mode_task]
     termination_task = asyncio.ensure_future(observe_is_in_air(drone, running_tasks))
 
+    async for health in drone.telemetry.health():
+        if health.is_global_position_ok and health.is_home_position_ok:
+            print("-- Global position state is good enough for flying.")
+            break
+
     # Execute the maneuvers
     print("-- Arming")
     await drone.action.arm()

examples/tune.py

@@ -13,7 +13,7 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"Drone discovered!")
+            print(f"-- Connected to drone!")
             break
 
     song_elements = []